This class represents the physical shape of an object for use in contact modeling.
More...
Public Member Functions |
| | ContactGeometry () |
| | Construct an empty ContactGeometry.
|
| | ContactGeometry (const SimTK::Vec3 &location, const SimTK::Vec3 &orientation, OpenSim::Body &body) |
| | Construct a ContactGeometry.
|
| | OpenSim_DECLARE_PROPERTY (body_name, std::string,"Body name to connect the contact geometry to") |
| | Body name.
|
| | OpenSim_DECLARE_PROPERTY (location, SimTK::Vec3,"Location of geometry center in the body frame") |
| | Location.
|
| | OpenSim_DECLARE_PROPERTY (orientation, SimTK::Vec3,"Orientation of geometry in the body frame") |
| | Orientation.
|
| | OpenSim_DECLARE_PROPERTY (display_preference, int,"Display Pref. 0:Hide 1:Wire 3:Flat 4:Shaded") |
| | Display Preference to apply to the contact geometry.
|
| | OpenSim_DECLARE_LIST_PROPERTY_SIZE (color, double, 3,"Display Color") |
| | Display Color to apply to the contact geometry.
|
| const SimTK::Vec3 & | getLocation () const |
| | Get the location of the geometry within the Body it is attached to.
|
| void | setLocation (const SimTK::Vec3 &location) |
| | Set the location of the geometry within the Body it is attached to.
|
| const SimTK::Vec3 & | getOrientation () const |
| | Get the orientation of the geometry within the Body it is attached to.
|
| void | setOrientation (const SimTK::Vec3 &orientation) |
| | Set the orientation of the geometry within the Body it is attached to.
|
| const OpenSim::Body & | getBody () const |
| | Get the Body this geometry is attached to.
|
| OpenSim::Body & | getBody () |
| | Get the Body this geometry is attached to.
|
| void | setBody (OpenSim::Body &body) |
| | Set the Body this geometry is attached to.
|
| const std::string & | getBodyName () |
| | Get the name of the Body this geometry is attached to.
|
| void | setBodyName (const std::string &name) |
| | Set the name of the Body this geometry is attached to.
|
| const int | getDisplayPreference () |
| | Get the display_preference of this geometry.
|
| void | setDisplayPreference (const int dispPref) |
| | Set the display_preference of this geometry.
|
| virtual SimTK::ContactGeometry | createSimTKContactGeometry ()=0 |
| | Create a new SimTK::ContactGeometry based on this object.
|
| SimTK::Transform | getTransform () |
| | Get a Transform representing the position and orientation of the geometry within the Body it is attached to.
|
| virtual void | scale (const ScaleSet &aScaleSet) |
| | Scale a ContactGeometry based on XYZ scale factors for the bodies.
|
| virtual const VisibleObject * | getDisplayer () const |
| | Methods to support making the object displayable in the GUI or Visualizer Implemented only in few objects.
|
| virtual VisibleObject * | updDisplayer () |
| | get Non const pointer to VisibleObject
|
| virtual void | updateGeometry () |
| | ModelComponent () |
| | Default constructor.
|
| | ModelComponent (const std::string &aFileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION |
| | Construct ModelComponent from an XML file.
|
| | ModelComponent (SimTK::Xml::Element &aNode) |
| | Construct ModelComponent from a specific node in an XML document.
|
| | ModelComponent (const ModelComponent &source) |
| | Construct ModelComponent with its contents copied from another ModelComponent; this is a deep copy so nothing is shared with the source after the copy.
|
| virtual | ~ModelComponent () |
| | Destructor is virtual to allow concrete model component cleanup.
|
| ModelComponent & | operator= (const ModelComponent &aModelComponent) |
| | Assignment operator to copy contents of an existing component.
|
| const Model & | getModel () const |
| | Get a const reference to the Model this component is part of.
|
| Model & | updModel () |
| | Get a modifiable reference to the Model this component is part of.
|
| virtual void | updateDisplayer (const SimTK::State &s) const |
| | In case the ModelComponent has a visual representation (VisualObject), override this method to update it.
|
| virtual int | getNumStateVariables () const |
| | Get the number of "Continuous" state variables maintained by the ModelComponent and its specified subcomponents.
|
| virtual Array< std::string > | getStateVariableNames () const |
| | Get the names of "continuous" state variables maintained by the ModelComponent and its subcomponents.
|
| virtual SimTK::SystemYIndex | getStateVariableSystemIndex (const std::string &stateVariableName) const |
| | Get the System Index of a state variable allocated by this ModelComponent.
|
| int | getModelingOption (const SimTK::State &state, const std::string &name) const |
| | Get a ModelingOption flag for this ModelComponent by name.
|
| void | setModelingOption (SimTK::State &state, const std::string &name, int flag) const |
| | Set the value of a ModelingOption flag for this ModelComponent.
|
| double | getStateVariable (const SimTK::State &state, const std::string &name) const |
| | Get the value of a state variable allocated by this ModelComponent.
|
| void | setStateVariable (SimTK::State &state, const std::string &name, double value) const |
| | Set the value of a state variable allocated by this ModelComponent by name.
|
| double | getDiscreteVariable (const SimTK::State &state, const std::string &name) const |
| | Get the value of a discrete variable allocated by this ModelComponent by name.
|
| void | setDiscreteVariable (SimTK::State &state, const std::string &name, double value) const |
| | Set the value of a discrete variable allocated by this ModelComponent by name.
|
| template<typename T > |
| const T & | getCacheVariable (const SimTK::State &state, const std::string &name) const |
| | Get the value of a cache variable allocated by this ModelComponent by name.
|
| template<typename T > |
| T & | updCacheVariable (const SimTK::State &state, const std::string &name) const |
| | Obtain a writable cache variable value allocated by this ModelComponent by name.
|
| void | markCacheVariableValid (const SimTK::State &state, const std::string &name) const |
| | After updating a cache variable value allocated by this ModelComponent, you can mark its value as valid, which will not change until the realization stage falls below the minimum set at the time the cache variable was created.
|
| void | markCacheVariableInvalid (const SimTK::State &state, const std::string &name) const |
| | Mark a cache variable value allocated by this ModelComponent as invalid.
|
| bool | isCacheVariableValid (const SimTK::State &state, const std::string &name) const |
| | Enables the to monitor the validity of the cache variable value using the returned flag.
|
| template<typename T > |
| void | setCacheVariable (const SimTK::State &state, const std::string &name, const T &value) const |
| | Set cache variable value allocated by this ModelComponent by name.
|
| virtual | ~Object () |
| | Virtual destructor for cleanup.
|
| virtual Object * | clone () const =0 |
| | Create a new heap-allocated copy of the concrete object to which this Object refers.
|
| virtual const std::string & | getConcreteClassName () const =0 |
| | Returns the class name of the concrete Object-derived class of the actual object referenced by this Object, as a string.
|
| bool | isEqualTo (const Object &aObject) const |
| | Equality operator wrapper for use from languages not supporting operator overloading.
|
| Object & | operator= (const Object &aObject) |
| | Copy assignment copies he base class fields, including the properties.
|
| virtual bool | operator== (const Object &aObject) const |
| | Determine if two objects are equal.
|
| virtual bool | operator< (const Object &aObject) const |
| | Provide an ordering for objects so they can be put in sorted containers.
|
| void | setName (const std::string &name) |
| | Set the name of the Object.
|
| const std::string & | getName () const |
| | Get the name of this Object.
|
| void | setDescription (const std::string &description) |
| | Set description, a one-liner summary.
|
| const std::string & | getDescription () const |
| | Get description, a one-liner summary.
|
| const std::string & | getAuthors () const |
| | Get Authors of this Object.
|
| void | setAuthors (const std::string &authors) |
| | Set Authors of this object, call this method in your constructor if needed.
|
| const std::string & | getReferences () const |
| | Get references or publications to cite if using this object.
|
| void | setReferences (const std::string &references) |
| | Set references or publications to cite if using this object.
|
| int | getNumProperties () const |
| | Determine how many properties are stored with this Object.
|
| const AbstractProperty & | getPropertyByIndex (int propertyIndex) const |
| | Get a const reference to a property by its index number, returned as an AbstractProperty.
|
| AbstractProperty & | updPropertyByIndex (int propertyIndex) |
| | Get a writable reference to a property by its index number, returned as an AbstractProperty.
|
| bool | hasProperty (const std::string &name) const |
| | Return true if this Object has a property of any type with the given name, which must not be empty.
|
| const AbstractProperty & | getPropertyByName (const std::string &name) const |
| | Get a const reference to a property by its name, returned as an AbstractProperty.
|
| AbstractProperty & | updPropertyByName (const std::string &name) |
| | Get a writable reference to a property by its name, returned as an AbstractProperty.
|
| template<class T > |
| bool | hasProperty () const |
| | Return true if this Object contains an unnamed, one-object property that contains objects of the given template type T.
|
| template<class T > |
| const Property< T > & | getProperty (const PropertyIndex &index) const |
| | Get property of known type Property<T> as a const reference; the property must be present and have the right type.
|
| template<class T > |
| Property< T > & | updProperty (const PropertyIndex &index) |
| | Get property of known type Property<T> as a writable reference; the property must be present and have the right type.
|
| void | setObjectIsUpToDateWithProperties () |
| | When an object is initialized using the current values of its properties, it can set a flag indicating that it is up to date.
|
| bool | isObjectUpToDateWithProperties () const |
| | Returns true if no property's value has changed since the last time setObjectIsUpToDateWithProperties() was called.
|
| void | readObjectFromXMLNodeOrFile (SimTK::Xml::Element &objectElement, int versionNumber) |
| | We're given an XML element from which we are to populate this Object.
|
| virtual void | updateFromXMLNode (SimTK::Xml::Element &objectElement, int versionNumber) |
| | Use this method to deserialize an object from a SimTK::Xml::Element.
|
| virtual void | updateXMLNode (SimTK::Xml::Element &parent) |
| | Serialize this object into the XML node that represents it.
|
| bool | getInlined () const |
| | Inlined means an in-memory Object that is not associated with an XMLDocument.
|
| void | setInlined (bool aInlined, const std::string &aFileName="") |
| | Mark this as inlined or not and optionally provide a file name to associate with the new XMLDocument for the non-inline case.
|
| std::string | getDocumentFileName () const |
| | If there is a document associated with this object then return the file name maintained by the document.
|
| void | setAllPropertiesUseDefault (bool aUseDefault) |
| bool | print (const std::string &fileName) |
| | Write this Object into an XML file of the given name; conventionally the suffix to use is ".osim".
|
| std::string | dump (bool dumpName=false) |
| | dump the XML representation of this Object into an std::string and return it.
|
| void | clearObjectIsUpToDateWithProperties () |
| | For testing or debugging purposes, manually clear the "object is up to
date with respect to properties" flag.
|
| virtual bool | isA (const char *type) const |
| | The default implementation returns true only if the supplied string is "Object"; each Object-derived class overrides this to match its own class name.
|
| const std::string & | toString () const |
| | Wrapper to be used on Java side to display objects in tree; this returns just the object's name.
|
| PropertySet & | getPropertySet () |
| | OBSOLETE: Get a reference to the PropertySet maintained by the Object.
|
| const PropertySet & | getPropertySet () const |
Protected Member Functions |
| void | connectToModel (Model &aModel) override |
| | Perform any necessary initializations required to connect the component into the Model, and check for error conditions.
|
| virtual void | addToSystem (SimTK::MultibodySystem &system) const |
| | Add appropriate Simbody elements (if needed) to the System corresponding to this component and specify needed state resources.
|
| virtual void | initStateFromProperties (SimTK::State &state) const |
| | Transfer property values or other state-independent initial values into this component's state variables in the passed-in state argument.
|
| virtual void | setPropertiesFromState (const SimTK::State &state) |
| | Update this component's property values to match the specified State, if the component has created any state variable that is intended to correspond to a property.
|
| virtual SimTK::Vector | computeStateVariableDerivatives (const SimTK::State &s) const |
| | If a model component has allocated any continuous state variables using the addStateVariable() method, then computeStateVariableDerivatives() must be implemented to provide time derivatives for those states.
|
| virtual void | generateDecorations (bool fixed, const ModelDisplayHints &hints, const SimTK::State &state, SimTK::Array_< SimTK::DecorativeGeometry > &appendToThis) const |
| | Optional method for generating arbitrary display geometry that reflects this ModelComponent at the specified state.
|
| virtual void | realizeTopology (SimTK::State &state) const |
| | Obtain state resources that are needed unconditionally, and perform computations that depend only on the system topology.
|
| virtual void | realizeModel (SimTK::State &state) const |
| | Obtain state resources that may be needed, depending on modeling options, and perform computations that depend only on topology and selected modeling options.
|
| virtual void | realizeInstance (const SimTK::State &state) const |
| | Perform computations that depend only on instance variables, like lengths and masses.
|
| virtual void | realizeTime (const SimTK::State &state) const |
| | Perform computations that depend only on time and earlier stages.
|
| virtual void | realizePosition (const SimTK::State &state) const |
| | Perform computations that depend only on position-level state variables and computations performed in earlier stages (including time).
|
| virtual void | realizeVelocity (const SimTK::State &state) const |
| | Perform computations that depend only on velocity-level state variables and computations performed in earlier stages (including position, and time).
|
| virtual void | realizeDynamics (const SimTK::State &state) const |
| | Perform computations (typically forces) that may depend on dynamics-stage state variables, and on computations performed in earlier stages (including velocity, position, and time), but not on other forces, accelerations, constraint multipliers, or reaction forces.
|
| virtual void | realizeAcceleration (const SimTK::State &state) const |
| | Perform computations that may depend on applied forces.
|
| virtual void | realizeReport (const SimTK::State &state) const |
| | Perform computations that may depend on anything but are only used for reporting and cannot affect subsequent simulation behavior.
|
| void | includeAsSubComponent (ModelComponent *aComponent) |
| | Include another ModelComponent as a Subcomponent of this ModelComponent.
|
| void | addModelingOption (const std::string &optionName, int maxFlagValue) const |
| | Add a modeling option (integer flag stored in the State) for use by this ModelComponent.
|
| void | addStateVariable (const std::string &stateVariableName, SimTK::Stage invalidatesStage=SimTK::Stage::Dynamics) const |
| | Add a continuous system state variable belonging to this ModelComponent, and assign a name by which to refer to it.
|
| void | addDiscreteVariable (const std::string &discreteVariableName, SimTK::Stage invalidatesStage) const |
| | Add a system discrete variable belonging to this ModelComponent, give it a name by which it can be referenced, and declare the lowest Stage that should be invalidated if this variable's value is changed.
|
| template<class T > |
| void | addCacheVariable (const std::string &cacheVariableName, const T &variablePrototype, SimTK::Stage dependsOnStage) const |
| | Add a state cache entry belonging to this ModelComponent to hold calculated values that must be automatically invalidated when certain state values change.
|
| const int | getStateIndex (const std::string &name) const |
| | Get the index of a ModelComponent's continuous state variable in the Subsystem for allocations.
|
| const SimTK::DiscreteVariableIndex | getDiscreteVariableIndex (const std::string &name) const |
| | Get the index of a ModelComponent's discrete variable in the Subsystem for allocations.
|
| const SimTK::CacheEntryIndex | getCacheVariableIndex (const std::string &name) const |
| | Get the index of a ModelComponent's cache variable in the Subsystem for allocations.
|
| | Object () |
| | The default constructor is only for use by constructors of derived types.
|
| | Object (const std::string &fileName, bool aUpdateFromXMLNode=true) SWIG_DECLARE_EXCEPTION |
| | Constructor from a file, to be called from other constructors that take a file as input.
|
| | Object (const Object &source) |
| | Copy constructor is invoked automatically by derived classes with default copy constructors; otherwise it must be invoked explicitly.
|
| | Object (SimTK::Xml::Element &aElement) |
| | Construct the base class portion of an Object from a given Xml element that describes this Object.
|
| template<class T > |
| PropertyIndex | addProperty (const std::string &name, const std::string &comment, const T &value) |
| | Define a new single-value property of known type T, with the given name, associated comment, and initial value.
|
| template<class T > |
| PropertyIndex | addOptionalProperty (const std::string &name, const std::string &comment) |
| | Add an optional property, meaning it can contain either no value or a single value.
|
| template<class T > |
| PropertyIndex | addOptionalProperty (const std::string &name, const std::string &comment, const T &value) |
| | Add an optional property, meaning it can contain either no value or a single value.
|
| template<class T > |
| PropertyIndex | addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize) |
| | Define a new list-valued property of known type T, with the given name, associated comment, minimum (==0) and maximum (>0) allowable list lengths, and a zero-length initial value.
|
| template<class T , template< class > class Container> |
| PropertyIndex | addListProperty (const std::string &name, const std::string &comment, int minSize, int maxSize, const Container< T > &valueList) |
| | Define a new list-valued property as above, but assigning an initial value via some templatized container class that supports size() and indexing.
|
| PropertyIndex | getPropertyIndex (const std::string &name) const |
| | Look up a property by name and return its PropertyIndex if it is found.
|
| template<class T > |
| PropertyIndex | getPropertyIndex () const |
| | Look up an unnamed property by the type of object it contains, and return its PropertyIndex if it is found.
|
| void | updateFromXMLDocument () |
| | Use this method only if you're deserializing from a file and the object is at the top level; that is, primarily in constructors that take a file name as input.
|
| void | setDocument (XMLDocument *doc) |
| | Unconditionally set the XMLDocument associated with this object.
|
| const XMLDocument * | getDocument () const |
| | Get a const pointer to the document (if any) associated with this object.
|
| XMLDocument * | updDocument () |
| | Get a writable pointer to the document (if any) associated with this object.
|
Additional Inherited Members |
| static void | registerType (const Object &defaultObject) |
| | Register an instance of a class; if the class is already registered it will be replaced.
|
| static void | renameType (const std::string &oldTypeName, const std::string &newTypeName) |
| | Support versioning by associating the current Object type with an old name.
|
| static const Object * | getDefaultInstanceOfType (const std::string &concreteClassName) |
| | Return a pointer to the default instance of the registered (concrete) Object whose class name is given, or NULL if the type is not registered.
|
| template<class T > |
| static bool | isObjectTypeDerivedFrom (const std::string &concreteClassName) |
| | Return true if the given concrete object type represents a subclass of the template object type T, and thus could be referenced with a T*.
|
| static Object * | newInstanceOfType (const std::string &concreteClassName) |
| | Create a new instance of the concrete Object type whose class name is given as concreteClassName.
|
| static void | getRegisteredTypenames (Array< std::string > &typeNames) |
| | Retrieve all the typenames registered so far.
|
| template<class T > |
| static void | getRegisteredObjectsOfGivenType (ArrayPtrs< T > &rArray) |
| | Return an array of pointers to the default instances of all registered (concrete) Object types that derive from a given Object-derived type that does not have to be concrete.
|
| static void | PrintPropertyInfo (std::ostream &os, const std::string &classNameDotPropertyName) |
| | Dump formatted property information to a given output stream, useful for creating a "help" facility for registered objects.
|
| static void | PrintPropertyInfo (std::ostream &os, const std::string &className, const std::string &propertyName) |
| | Same as the other signature but the class name and property name are provided as two separate strings.
|
| static Object * | makeObjectFromFile (const std::string &fileName) |
| | Create an OpenSim object whose type is based on the tag at the root node of the XML file passed in.
|
| static const std::string & | getClassName () |
| | Return the name of this class as a string; i.e., "Object".
|
| static void | setSerializeAllDefaults (bool shouldSerializeDefaults) |
| | Static function to control whether all registered objects and their properties are written to the defaults section of output files rather than only those values for which the default was explicitly overwritten when read in from an input file or set programmatically.
|
| static bool | getSerializeAllDefaults () |
| | Report the value of the "serialize all defaults" flag.
|
| static bool | isKindOf (const char *type) |
| | Returns true if the passed-in string is "Object"; each Object-derived class defines a method of this name for its own class name.
|
| static void | setDebugLevel (int newLevel) |
| | Set the debug level to get verbose output.
|
| static int | getDebugLevel () |
| | Get current setting of debug level.
|
| static Object * | SafeCopy (const Object *aObject) |
| | Use the clone() method to duplicate the given object unless the pointer is null in which case null is returned.
|
| static void | RegisterType (const Object &defaultObject) |
| | OBSOLETE alternate name for registerType().
|
| static void | RenameType (const std::string &oldName, const std::string &newName) |
| | OBSOLETE alternate name for renameType().
|
| static const std::string | DEFAULT_NAME |
| | Name used for default objects when they are serialized.
|
| #define | OpenSim_DECLARE_CONCRETE_OBJECT(ConcreteClass, SuperClass) |
| | Macro to be included as the first line of the class declaration for any non-templatized, concrete class that derives from OpenSim::Object.
|
| #define | OpenSim_DECLARE_ABSTRACT_OBJECT(ConcreteClass, SuperClass) |
| | Macro to be included as the first line of the class declaration for any still-abstract class that derives from OpenSim::Object.
|
| #define | OpenSim_DECLARE_CONCRETE_OBJECT_T(ConcreteClass, TArg, SuperClass) |
| | Macro to be included as the first line of the class declaration for any templatized, concrete class that derives from OpenSim::Object, like Set<T>.
|
| #define | OpenSim_DECLARE_ABSTRACT_OBJECT_T(ConcreteClass, TArg, SuperClass) |
| | Macro to be included as the first line of the class declaration for any templatized, still-abstract class that derives from OpenSim::Object.
|
This class represents the physical shape of an object for use in contact modeling.
It is an abstract class, with subclasses for particular geometric representations.
- Author
- Peter Eastman
Public Member Functions inherited from OpenSim::ModelComponent
1.8.1.2 
